Indoor positioning system, method and communication and navigation integrated network

Abstract

The embodiment of the present invention provides an indoor positioning system, method and communication and navigation integrated network, including: a signal source module, a gateway, a combiner, a first leaky cable, a second leaky cable, a first positioning device and a second positioning device; the signal source module and the gateway are respectively connected to the first end of the first leaky cable and the first end of the second leaky cable through the combiner; the first positioning device is arranged between the first end of the first leaky cable and the feeder, and receives power from the gateway or the signal source module; the second positioning device is arranged between the first end of the second leaky cable and the feeder, and receives power from the gateway or the signal source module; the first positioning device and the second positioning device receive the configuration signal sent by the gateway or send a positioning signal to the gateway, and send and receive positioning signals through the first leaky cable and the second leaky cable respectively, so as to locate the terminal. There is no need to set up a new positioning system, which reduces the cost of network construction and the space requirement for network construction.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communication and positioning technology, and in particular to an indoor positioning system, method and communication and navigation integrated network. Background Art

[0002] With the development of urbanization, more and more large commercial buildings, large hub projects, tunnels, etc. appear in people's daily lives. When people are active in these indoor places, it is difficult for them to quickly know their own location due to factors such as the large area and complex spatial layout of these places. Therefore, people's demand for positioning in large indoor places is becoming more and more urgent. Combined with the development and maturity of Internet of Things technology and its related hardware, indoor positioning technology has developed rapidly.

[0003] At present, traditional indoor positioning technologies mainly include: WiFi positioning, RFID positioning, ultra-wideband positioning, Bluetooth positioning, infrared positioning, ultrasonic positioning, inertial navigation technology, etc.

[0004] However, the inventors have found that conventional indoor positioning technologies require a new positioning network to be deployed indoors, which greatly increases the space requirements for deploying the network indoors and the cost of deploying the indoor network is high. Summary of the invention

[0005] The embodiments of the present invention provide an indoor positioning system, method and communication and navigation integrated network, which greatly reduce the network construction cost and lower the network construction space requirement.

[0006] In a first aspect, an embodiment of the present invention provides an indoor positioning system, including:

[0007] A signal source module, a gateway, a combiner, a first leaky cable, a second leaky cable, a first positioning device and a second positioning device;

[0008] The information source module and the gateway are connected to the first end of the first leaky cable and the first end of the second leaky cable after being combined by the combiner;

[0009] The first positioning device is arranged between the first end of the first leaky cable and the feeder;

[0010] The second positioning device is arranged between the first end of the second leaky cable and the feeder

[0011] The first positioning device and the second positioning device are used to receive the configuration signal sent by the gateway or send a positioning signal to the gateway, and respectively send and receive positioning signals through the first leaky cable and the second leaky cable, so that the terminal is positioned according to the positioning signal.

[0012] In a second aspect, an embodiment of the present invention provides an indoor positioning method, using the indoor positioning system as described in the first aspect, wherein the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal; the method comprises:

[0013] Step A1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal;

[0014] Step A2: according to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the spacing d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, the propagation speed c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable and the radiation angle θ2 of the second leaky cable, and the first total transmission time T1 and the second total transmission time T2, a first preset formula is introduced to obtain a first radial distance x between the terminal and the first leaky cable;

[0015] Step A3: calculating, according to the first radial distance x, a first spatial transmission time t3 of the first positioning signal when it is spatially transmitted between the terminal and the first leaky cable, and a second spatial transmission time t4 of the second positioning signal when it is spatially transmitted between the terminal and the second leaky cable;

[0016] Step A4: subtract the first total transmission time T1 from the first spatial transmission time t3 to obtain the first leaky cable transmission time t1 of the first positioning signal in the first leaky cable; subtract the second total transmission time T2 from the second spatial transmission time t4 to calculate the second leaky cable transmission time t2 of the second positioning signal in the second leaky cable;

[0017] Step A5: According to the propagation velocity v1 of the first leaky cable, the transmission time t1 of the first leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the first radial distance x and the radiation angle θ1 of the first leaky cable, the propagation velocity v2 of the second leaky cable, the transmission time t2 of the second leaky cable, the spacing d between the first leaky cable and the second leaky cable, the radiation angle θ2 of the second leaky cable and the initial position difference b, a second preset formula is imported to obtain the first longitudinal distance y of the terminal from the first leaky cable, and the coordinates (x, y) of the terminal relative to the first leaky cable.

[0018] In a third aspect, an embodiment of the present invention further provides an indoor positioning method, using the indoor positioning system as described in the first aspect, wherein the positioning signal interacted between the first positioning device and the terminal is a first positioning signal, and the positioning signal interacted between the second positioning device and the terminal is a second positioning signal; the method comprises:

[0019] Step G1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal;

[0020] Step G2: according to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the intersection angle θ of the longitudinal extension directions of the first leaky cable and the second leaky cable, the distance b1 from the initial position of the first leaky cable to the intersection point, the distance b2 from the initial position of the second leaky cable to the intersection point, the propagation speed c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable and the radiation angle θ2 of the second leaky cable, as well as the first total transmission time T1 and the second total transmission time T2, import the first preset equation group to obtain the first radial distance x1 of the terminal from the first leaky cable and the second radial distance x2 of the terminal from the second leaky cable;

[0021] Step G3: According to the first radial distance x1 of the terminal from the first leaky cable and the second radial distance x2 of the terminal from the second leaky cable, according to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the propagation speed c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable and the radiation angle θ2 of the second leaky cable, as well as the first total transmission time T1 and the second total transmission time T2, import the second preset equation group to obtain the first longitudinal distance y1 of the terminal from the first leaky cable, the second longitudinal distance y2 of the second leaky cable, and obtain the coordinates (x1, y1) of the terminal relative to the first leaky cable and the coordinates (x2, y2) of the terminal relative to the second leaky cable.

[0022] In a fourth aspect, an embodiment of the present invention provides an indoor positioning network, including the indoor positioning system as described in the first aspect.

[0023] The indoor positioning system, method and communication and navigation integrated network provided by the embodiments of the present invention, the indoor positioning system, on the basis of the existing indoor coverage network composed of a source module, a combiner, a first leaky cable and a second leaky cable, sets a gateway at the source, sets a first positioning device and a second positioning device between the leaky cable and the feeder, wherein the positioning device is powered by the gateway or the source module, configured by the gateway, sends or receives positioning signals through the leaky cable, and locates the indoor positioning target through the positioning signal. Since there is no need to set up a new positioning system, it is only necessary to add a positioning device on the basis of the original indoor coverage network to realize indoor terminal positioning, which greatly reduces the cost of network construction and reduces the requirements for network construction space. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 A schematic diagram of the structure of an indoor positioning system provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the structure of another indoor positioning system provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the structure of another indoor positioning system provided by an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of the principle of an indoor positioning method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The existing indoor positioning technologies all require a new positioning network to be deployed indoors, which greatly increases the space requirements for indoor network deployment and increases the cost of indoor network deployment.

[0031] In order to solve the above technical problems, the indoor positioning system proposed in the present invention is based on the existing indoor coverage network composed of a source module, a gateway, a combiner, a first leaky cable, and a second leaky cable, and a first positioning device and a second positioning device are set between the leaky cable and the feeder. The positioning device is powered by the gateway or the source module, configured by the gateway, and sends or receives positioning signals through the leaky cable, and the indoor terminal is positioned by the positioning signal. Since there is no need to set up a new positioning system, it is only necessary to add a positioning device on the basis of the original indoor coverage network to achieve indoor terminal positioning, which greatly reduces the cost of network construction and reduces the requirements for network construction space.

[0032] refer to Figure 1 , Figure 1 The indoor positioning system provided in this embodiment includes:

[0033] The information source module 100 , the gateway 200 , the combiner 300 , the first leaky cable 400 , the second leaky cable 500 , the first positioning device 600 and the second positioning device 700 .

[0034] The information source module 100 and the gateway 200 are connected to the first end of the first leaky cable 400 and the first end of the second leaky cable 500 after being combined by the combiner 300; the gateway is used to output a positioning signal.

[0035] The first positioner 600 is disposed between the first end of the first leaky cable 400 and the feeder.

[0036] The second positioning device 700 is disposed between the first end of the second leaky cable 500 and the feeder.

[0037] The first positioning device 600 and the second positioning device 700 are used to receive the configuration signal sent by the gateway 200 or send a positioning signal to the gateway, and respectively send and receive positioning signals through the first leaky cable 400 and the second leaky cable 500, so that the terminal can be positioned according to the positioning signal. In this embodiment, the gateway 200 is used to provide power and configure the first positioning device 600 and the second positioning device 700 so that the first positioning device 600 and the second positioning device 700 output or receive positioning signals.

[0038] In this embodiment, the first end of the first leaky cable 400 and the first end of the second leaky cable 500 refer to the first ends of the first leaky cable 400 and the second leaky cable 500 on the same side.

[0039] In this embodiment, the gateway 200 is also called an internetwork connector or a protocol converter. The gateway 200 is used in the indoor coverage network to interconnect two networks with different high-level protocols. The gateway can be used for both wide area network interconnection and local area network interconnection. At the same time, the gateway 200 in this embodiment is also used to supply direct current to the first leaky cable 400, the second leaky cable 500, the first positioning device 600, the second positioning device 700 and other devices.

[0040] In this embodiment, the first leaky cable 400 and the second leaky cable 500 may be MIMO (Multiple In Multiple Out) leaky cables.

[0041] In this embodiment, the first positioning device and the second positioning device include at least one positioning base station for sending a positioning signal.

[0042] It should be noted that: the combiner 300 can be one combiner or multiple combiners. For example, when the combiner is two combiners, the first positioning device and the second positioning device are respectively connected to one combiner, the two output ports of the signal source are respectively connected to the input ends of the two combiners, and the two output ports of the gateway or the two output ports of one output port of the gateway after being split by a power divider are respectively connected to the input ends of the two combiners.

[0043] From the above description, it can be seen that the indoor positioning system, based on the existing indoor coverage network composed of the source module, the combiner, the first leaky cable, and the second leaky cable, sets a gateway at the source, sets a first positioning device and a second positioning device between the leaky cable and the feeder, wherein the positioning device is configured through the gateway, receives and sends positioning signals through the leaky cable, and locates the indoor positioning target terminal through the positioning signal. Since there is no need to set up a new positioning system, it only needs to add a positioning device on the basis of the original indoor coverage network to realize indoor terminal positioning, which greatly reduces the cost of network construction and reduces the requirements for network construction space.

[0044] In one embodiment of the present invention, the gateway is used to provide direct current power supply to the first leaky cable, the second leaky cable, the first positioning device and the second positioning device. The first positioning device and the second positioning device are both direct current devices, and the first leaky cable and the second leaky cable are cables powered by direct current. The direct current of the gateway is the power supply in the communication network, and the magnitude of the power supply voltage can be set according to network requirements.

[0045] In yet another embodiment of the present invention, the first leaky cable, the second leaky cable, the first positioning device and the second positioning device receive direct current power or radio frequency power from the gateway.

[0046] In yet another embodiment of the present invention, the first leaky cable, the second leaky cable, the first positioning device and the second positioning device receive radio frequency power from the signal source module.

[0047] Since the DC power or RF power of the gateway or source module of the existing communication network is used as the power supply, the power supply problem of the positioning device and the leaky cable can be solved. There is no need to install matching power lines to power the positioning device and the leaky cable, which increases the wiring cost and construction complexity.

[0048] In one or more embodiments of the present invention, the first positioning device 600 and the second positioning device 700 include at least one positioning base station.

[0049] The first positioning device 600 and the second positioning device 700 also include one or more of the following devices: a power divider, a coupler, a filter, a combiner, an antenna, a circulator, an isolator, a load and an attenuator; when the first positioning device 600 and the second positioning device 700 include an antenna or an integrated antenna function, the first positioning device 600 and the second positioning device 700 send or receive positioning signals through the antenna.

[0050] In one or more embodiments of the present invention, the positioning base station includes one or more of a Bluetooth module, an ultra-wideband UWB module, a radio frequency identification RFID module, a wireless local area network WiFi module, and a ZigBee module.

[0051] refer to Figure 2 In one or more embodiments of the present invention, the first positioning device 600 and the second positioning device 700 send or receive positioning signals through antennas at the leaky cable ends of the first leaky cable and the second leaky cable.

[0052] The first positioning device 600 sends or receives positioning signals through the first antenna 1100 at the end of the leaky cable; the second positioning device 700 sends or receives positioning signals through the second antenna 1200 at the end of the leaky cable. On the basis of sending or receiving positioning signals through the leaky cable, the positioning signals are continuously sent or received through the antenna to ensure signal strength and sensitivity, thereby providing positioning accuracy.

[0053] In one or more embodiments of the present invention, an indoor positioning method is further provided, using the above-mentioned indoor positioning system, the method comprising:

[0054] The first positioning device and the second positioning device send out a positioning signal, and after exchanging positioning signals with the terminal through the first leaky cable and the second leaky cable once or more, the terminal calculates the position of the terminal based on the interacted positioning signal; or, the first positioning device and the second positioning device send the interacted positioning signal to a positioning server, and the positioning server calculates the position of the terminal based on the interacted positioning signal.

[0055] or,

[0056] The terminal sends a positioning signal, and after one or more positioning signal interactions with the first positioning device and the second positioning device through the first leaky cable and the second leaky cable, the terminal calculates the position of the terminal based on the interacted positioning signal; or, after the first positioning device and the second positioning device send the interacted positioning signal to a positioning server, the positioning server calculates the position of the terminal based on the interacted positioning signal.

[0057] In one possible embodiment, reference Figure 1 , Figure 1 A schematic structural diagram of another indoor positioning system provided by an embodiment of the present invention, wherein a first leaky cable and a second leaky cable are arranged in parallel.

[0058] exist Figure 1 Based on the illustrated embodiment, in a possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0059] The calculating the position of the terminal according to the interactive positioning signal includes:

[0060] Step A1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal.

[0061] In this embodiment, known parameters are acquired based on a first positioning method, wherein the first positioning method includes a positioning method based on flight time or arrival time.

[0062] Step A2: According to the propagation velocity v1 of the first leaky cable, the propagation velocity v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the spacing d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, the propagation velocity c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable and the radiation angle θ2 of the second leaky cable, as well as the first total transmission time T1 and the second total transmission time T2, a first preset formula is introduced to obtain a first radial distance x between the terminal and the first leaky cable.

[0063] The first preset formula is as follows:

[0064]

[0065] Formula (1) means that the difference between the longitudinal projection distances of the terminal on the first leaky cable and the second leaky cable is a known distance.

[0066] In this embodiment, the initial position difference b between the first leaky cable and the second leaky cable refers to the distance between the first leaky cable and the second leaky cable in the plane where the two leaky cables are located. The first leaky cable and the second leaky cable are arranged in parallel.

[0067] The first radial distance x between the terminal and the first leaky cable refers to the vertical distance between the terminal and the first leaky cable when the terminal is placed in the plane where the first leaky cable and the second leaky cable are located.

[0068] The radiation angle of the leaky cable refers to the angle between the radiation direction of the leaky cable signal and the longitudinal direction of the leaky cable. When the radiation angle is 90 degrees, sinθ1=1. tends to 0, sinθ2=1, Tends to 0.

[0069] The propagation speed c of the first positioning signal and the second positioning signal in the air refers to the propagation speed of the positioning signal in the space between the terminal and the leaky cable.

[0070] Step A3: Calculate the first spatial transmission time t3 of the first positioning signal when it is spatially transmitted between the terminal and the first leaky cable, and the second spatial transmission time t4 of the second positioning signal when it is spatially transmitted between the terminal and the second leaky cable according to the first radial distance x.

[0071] Among them, the first spatial transmission time t3 is calculated, Calculate the second spatial transmission time t4,

[0072] Step A4: Subtract the first total transmission time T1 from the first spatial transmission time t3 to obtain the first leaky cable transmission time t1 of the first positioning signal in the first leaky cable; subtract the second total transmission time T2 from the second spatial transmission time t4 to calculate the second leaky cable transmission time t2 of the second positioning signal in the second leaky cable.

[0073] The first leaky cable transmission time t1 = T1 - t3, and the second leaky cable transmission time t2 = T2 - t4.

[0074] Step A5: According to the propagation velocity v1 of the first leaky cable, the transmission time t1 of the first leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the first radial distance x and the radiation angle θ1 of the first leaky cable, the propagation velocity v2 of the second leaky cable, the transmission time t2 of the second leaky cable, the spacing d between the first leaky cable and the second leaky cable, the radiation angle θ2 of the second leaky cable and the initial position difference b, a second preset formula is imported to obtain the first longitudinal distance y of the terminal from the first leaky cable, and the coordinates (x, y) of the terminal relative to the first leaky cable.

[0075] In this embodiment, the second preset formula is as follows:

[0076]

[0077] In this embodiment, the first longitudinal distance y between the terminal and the first leaky cable refers to the distance between the terminal and the first end of the first leaky cable close to the locator in the extension direction of the first leaky cable when the terminal is placed in the plane where the first leaky cable and the second leaky cable are located.

[0078] It can be understood that, according to the first radial distance x between the terminal and the first leaky cable, the first longitudinal distance y between the terminal and the first leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, and the initial position difference b between the first leaky cable and the second leaky cable, the second radial distance w between the terminal and the second leaky cable and the second longitudinal distance p between the terminal and the second leaky cable can be obtained, thereby obtaining the coordinates (w, p) of the terminal relative to the second leaky cable.

[0079] It should be noted that the transmission time involved in the present invention is the time for one-way transmission between two objects or multiple objects.

[0080] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0081] The calculating the position of the terminal according to the interactive positioning signal includes:

[0082] Step B1: Obtain known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal; determine a difference ΔT between total transmission times based on the first total transmission time and the second total transmission time.

[0083] In the step B1, determining the total transmission time difference ΔT between a first total transmission time T1 of the first positioning signal between the first positioning device and the terminal and a second total transmission time T2 of the second positioning signal between the second positioning device and the terminal comprises:

[0084] Based on the second positioning method, known parameters are obtained, including: a first total transmission time T1 of the first positioning signal between the first positioning device and the terminal, and a second total transmission time T2 of the second positioning signal between the second positioning device and the terminal; a difference ΔT between the total transmission times is determined according to the first total transmission time and the second total transmission time; wherein the second positioning method is a positioning method based on flight time and arrival time.

[0085] or,

[0086] Based on the third positioning method, known parameters are obtained, including: the total transmission time difference ΔT between the first positioning signal when the terminal interacts with the first positioning device and the second positioning signal when the terminal interacts with the second positioning device, wherein the third positioning method is a positioning method based on arrival time difference.

[0087] Step B2: According to the vertical height h of the terminal from the plane where the two leaky cables are located, the propagation speed c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable, the spacing d between the first leaky cable and the second leaky cable, the radiation angle θ2 of the second leaky cable, the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the known time difference Δt caused by the initial position difference, and the difference in total transmission time ΔT, a third preset formula is introduced to obtain the first radial distance x between the terminal and the first leaky cable.

[0088] The third preset formula is shown in the following formula (3):

[0089]

[0090] Wherein, formula (3) refers to the transmission time difference of the first positioning signal and the second positioning signal in space when the terminal interacts with the first positioning device and the second positioning device, and the transmission time difference of the first positioning signal and the second positioning signal in the first leaky cable and the second leaky cable when the terminal interacts with the first positioning device and the second positioning device. The sum of the two transmission time differences is equal to the total transmission time difference.

[0091] Step B3: Calculate a first longitudinal distance y between the terminal and the first leaky cable to obtain coordinates (x, y) of the terminal relative to the first leaky cable.

[0092] A specific algorithm of step B3 includes:

[0093] Specifically, step B31: calculate the first spatial transmission time t3 of the first positioning signal when it is transmitted in the space between the terminal and the first leaky cable, and the second spatial transmission time t4 of the second positioning signal when it is transmitted in the space between the terminal and the second leaky cable according to the first radial distance x.

[0094] Among them, step B31 can be consistent with the above-mentioned step A3, and will not be repeated here.

[0095] Step B32: Subtract the first total transmission time T1 from the first spatial transmission time t3 to obtain the first leaky cable transmission time t1 of the first positioning signal in the first leaky cable; subtract the second total transmission time T2 from the second spatial transmission time t4 to calculate the second leaky cable transmission time t2 of the second positioning signal in the second leaky cable.

[0096] Among them, step B32 can be consistent with the above-mentioned step A4, and will not be repeated here.

[0097] Step B33: According to the propagation velocity v1 of the first leaky cable, the transmission time t1 of the first leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the first radial distance x and the radiation angle θ1 of the first leaky cable, the propagation velocity v2 of the second leaky cable, the transmission time t2 of the second leaky cable, the spacing d between the first leaky cable and the second leaky cable, the radiation angle θ2 of the first leaky cable and the initial position difference b, a second preset formula is imported to obtain the first longitudinal distance y of the terminal from the first leaky cable, and the coordinates (x, y) of the terminal relative to the first leaky cable.

[0098] Among them, step B33 can be consistent with the above-mentioned step A5, and will not be repeated here.

[0099] It should be noted that step B3 may adopt the same calculation algorithm as steps A3-A5, or may adopt other calculation algorithms, all of which are included in the protection scope of the present invention and will not be described in detail here.

[0100] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0101] The calculating the position of the terminal according to the interactive positioning signal includes:

[0102] Step C1: Acquire known parameters, including: a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal;

[0103] In this embodiment, known parameters are acquired based on a fourth positioning method, wherein the fourth positioning method includes a phase-based positioning method.

[0104] Step C2: According to the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelength λ of the first positioning signal and the second positioning signal in free space, the radiation angle θ1 of the first leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, the radiation angle θ2 of the second leaky cable, the wavelength λ of the first positioning signal in the first leaky cable c1 , the wavelength λ of the second positioning signal in the second leaky cable c2 , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, and a fourth preset formula are introduced to obtain a first radial distance x between the terminal and the first leaky cable.

[0105] The fourth preset formula is shown in the following formula (4):

[0106]

[0107] Formula (4) means that the difference between the longitudinal projection distances of the terminal on the first leaky cable and the second leaky cable is a known distance (ie, the initial position difference is known).

[0108] Step C3: according to the first radial distance x between the terminal and the first leaky cable, the vertical height h between the terminal and the plane where the two leaky cables are located, the wavelength λ of the first positioning signal and the second positioning signal in free space, the radiation angle θ1 of the first leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, the radiation angle θ2 of the second leaky cable, the wavelength λ of the first positioning signal in the first leaky cable c1 , the wavelength λ of the second positioning signal in the second leaky cable c2 , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, import the fifth preset formula, obtain the first longitudinal distance y of the terminal from the first leaky cable, and obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

[0109] In this embodiment, the fifth preset formula is as follows:

[0110]

[0111] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0112] The calculating the position of the terminal according to the interactive positioning signal includes:

[0113] Step D1: Acquire known parameters, including: a first total phase ψ1 of a first positioning signal between a first positioning device and a terminal, and a second total phase ψ2 of a second positioning signal between a second positioning device and a terminal, and determine a total phase difference Δψ according to the first total phase and the second total phase;

[0114] In the step D1, determining a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, and determining a total phase difference Δψ according to the phase difference between the two, comprises:

[0115] Based on the fifth positioning method, known parameters are obtained, including: a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, and a total phase difference Δψ is determined according to the first total phase and the second total phase; wherein the fifth positioning method is a phase-based positioning method.

[0116] or

[0117] Based on the sixth positioning method, known parameters are obtained, including: a first positioning signal when the terminal interacts with the first positioning device, and a total phase difference Δψ between a second positioning signal when the terminal interacts with the second positioning device; wherein the sixth positioning method is a positioning method based on phase difference.

[0118] Step D2: According to the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelength λ of the first positioning signal and the second positioning signal in free space, the radiation angle θ1 of the first leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, the radiation angle θ2 of the first leaky cable, the wavelength λ of the first positioning signal in the first leaky cable c1 , the wavelength λ of the second positioning signal in the second leaky cable c2 , the known phase difference caused by the initial position difference and the total phase difference Δψ, and introduce a sixth preset formula to obtain a first radial distance x between the terminal and the first leaky cable.

[0119] In this step, the sixth preset formula is as shown in the following formula (6):

[0120]

[0121] Wherein, formula (6) refers to the phase difference between the first positioning signal and the second positioning signal in spatial transmission when the terminal interacts with the first positioning device and the second positioning device, and the transmission phase difference between the first positioning signal and the second positioning signal in the first leaky cable and the second leaky cable when the terminal interacts with the first positioning device and the second positioning device. The sum of the two transmission phase differences is equal to the total phase difference.

[0122] The wavelength λ of the first positioning signal and the second positioning signal in free space refers to the wavelength of the positioning signal in the space between the terminal and the leaky cable.

[0123] Step D3: Calculate a first longitudinal distance y between the terminal and the first leaky cable to obtain coordinates (x, y) of the terminal relative to the first leaky cable.

[0124] Specifically, a specific algorithm of step D3 includes: according to the first radial distance x between the terminal and the first leaky cable, the vertical height h between the terminal and the plane where the two leaky cables are located, the wavelength λ of the first positioning signal and the second positioning signal in free space, the radiation angle θ1 of the first leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, the radiation angle θ2 of the second leaky cable, the wavelength λ of the first positioning signal in the first leaky cable c1 , the wavelength λ of the second positioning signal in the second leaky cable c2 , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, import the fifth preset formula, obtain the first longitudinal distance y of the terminal from the first leaky cable, and obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

[0125] Among them, this step can be consistent with the above-mentioned step C3, or it can be other positioning calculation algorithms, all of which are included in the protection scope of the present invention and will not be repeated here.

[0126] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0127] The calculating the position of the terminal according to the interactive positioning signal includes:

[0128] Step E1: Acquire known parameters, including: a first total loss L1 of a first positioning signal transmitted between a first positioning device and a terminal, and a second total loss L2 of a second positioning signal transmitted between a second positioning device and a terminal.

[0129] Among them, based on the seventh positioning method, known parameters are obtained, and the seventh positioning method is a positioning method based on signal strength.

[0130] Step E2: According to the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, the radiation angle θ1 of the first leaky cable, and the coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle θ2 of the second leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, and the initial position difference b between the first leaky cable and the second leaky cable are introduced into the seventh preset formula to obtain the first radial distance x between the terminal and the first leaky cable.

[0131] The seventh preset formula is as shown in the following formula (7):

[0132]

[0133] Formula (7) means that the difference between the longitudinal projection distances of the terminal on the first leaky cable and the second leaky cable is a known distance (ie, the initial position difference is known).

[0134] The m-meter distance of the first leaky cable may be the minimum radial distance from a certain position to the first leaky cable. The m-meter distance of the second leaky cable may be the minimum radial distance from a certain position to the second leaky cable.

[0135] Step E3: according to the first radial distance x, the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, the radiation angle θ1 of the first leaky cable, and the coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle θ2 of the second leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, and the initial position difference b between the first leaky cable and the second leaky cable are introduced into an eighth preset formula to obtain a first longitudinal distance y between the terminal and the first leaky cable, and to obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

[0136] The eighth preset formula is as shown in the following formula (8):

[0137]

[0138] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0139] The calculating the position of the terminal according to the interactive positioning signal includes:

[0140] Step F1: Obtain known parameters, including: a first total loss L1 of a first positioning signal transmitted between a first positioning device and a terminal, and a second total loss L2 of a second positioning signal transmitted between a second positioning device and a terminal, wherein the total loss difference ΔL is the difference between the first total loss L1 and the second total loss L2.

[0141] In step F1, determining a first total loss L1 of the first positioning signal transmitted between the first positioning device and the terminal, and a second total loss L2 of the second positioning signal transmitted between the second positioning device and the terminal, wherein the difference between the first total loss L1 and the second total loss L2 is a total loss difference ΔL, comprises:

[0142] Based on the eighth positioning method, known parameters are obtained, including: a first total loss L1 of the first positioning signal transmitted between the first positioning device and the terminal, and a second total loss L2 of the second positioning signal transmitted between the second positioning device and the terminal, wherein the total loss difference ΔL is the difference between the first total loss L1 and the second total loss L2; ​​wherein the eighth positioning method is a positioning method based on signal strength.

[0143] or

[0144] Based on the ninth positioning method, known parameters are obtained, including: the difference ΔL between the total loss of the first positioning signal transmitted between the first positioning device and the terminal and the total loss of the second positioning signal transmitted between the second positioning device and the terminal; wherein the ninth positioning method is a positioning method based on signal strength difference.

[0145] Step F2: According to the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, the radiation angle θ1 of the first leaky cable, and the coupling loss α of the first leaky cable at m meters c1 and the distance value m, the distance d between the first leaky cable and the second leaky cable, the radiation angle θ2 of the first leaky cable, and the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α1 of the first leaky cable, the transmission loss factor α2 of the second leaky cable, the total loss difference ΔL, and the known loss difference Δα caused by the initial position difference b, and the ninth preset formula is introduced to obtain the first radial distance x between the terminal and the first leaky cable.

[0146] The ninth preset formula is as shown in the following formula (9):

[0147]

[0148] Formula (9) refers to the transmission loss difference of the first positioning signal and the second positioning signal in the first leaky cable and the second leaky cable respectively when the terminal exchanges information with the first positioning device and the second positioning device, and the signal strength difference of the first positioning signal and the second positioning signal in space when the terminal exchanges information with the first positioning device and the second positioning device. The sum of the transmission loss difference and the signal strength difference is equal to the total loss difference.

[0149] Step F3: Calculate a first longitudinal distance y between the terminal and the first leaky cable to obtain coordinates (x, y) of the terminal relative to the first leaky cable.

[0150] A specific algorithm of step F3 includes: according to the first radial distance x, the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, the radiation angle θ1 of the first leaky cable, the coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle θ2 of the first leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, and the initial position difference b between the first leaky cable and the second leaky cable are introduced into an eighth preset formula to obtain a first longitudinal distance y between the terminal and the first leaky cable, and to obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

[0151] Among them, this step can be consistent with the above-mentioned step E3, or it can be other positioning calculation algorithms, all of which are included in the protection scope of the present invention and will not be repeated here.

[0152] In one possible embodiment, reference Figure 3 , Figure 3 A schematic structural diagram of another indoor positioning system provided by an embodiment of the present invention, wherein the first leaky cable and the second leaky cable are not arranged in parallel.

[0153] exist Figure 3 Based on the embodiment shown, in another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0154] The calculating the position of the terminal according to the interactive positioning signal includes:

[0155] Step G1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal;

[0156] Among them, based on the tenth positioning method, known parameters are obtained, and the positioning method is based on flight time or arrival time.

[0157] Step G2: according to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the intersection angle θ of the longitudinal extension directions of the first leaky cable and the second leaky cable, the distance b1 from the initial position of the first leaky cable to the intersection point, the distance b2 from the initial position of the second leaky cable to the intersection point, the propagation speed c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable and the radiation angle θ2 of the second leaky cable, as well as the first total transmission time T1 and the second total transmission time T2, import the first preset equation group to obtain the first radial distance x1 of the terminal from the first leaky cable and the second radial distance x2 of the terminal from the second leaky cable;

[0158] The first preset equation group is the following equation group (1):

[0159]

[0160] Wherein, in equation group (1), the sum of the angles between the plane projection of the terminal on the first leaky cable and the second leaky cable and the first leaky cable and the second leaky cable is θ, and the distance between the terminal and the first leaky cable at the intersection is equal to the distance between the terminal and the second leaky cable at the intersection.

[0161] Step G3: According to the first radial distance x1 of the terminal from the first leaky cable and the second radial distance x2 of the terminal from the second leaky cable, according to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the propagation speed c of the first positioning signal and the second positioning signal in the air, the radiation angle θ1 of the first leaky cable and the radiation angle θ2 of the second leaky cable, as well as the first total transmission time T1 and the second total transmission time T2, import the second preset equation group to obtain the first longitudinal distance y1 of the terminal from the first leaky cable, the second longitudinal distance y2 of the second leaky cable, and obtain the coordinates (x1, y1) of the terminal relative to the first leaky cable and the coordinates (x2, y2) of the terminal relative to the second leaky cable.

[0162] The second preset equation group is the following equation group (2):

[0163]

[0164] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0165] The calculating the position of the terminal according to the interactive positioning signal includes:

[0166] Step H1: Acquire known parameters, including: a first total phase ψ1 of a first positioning signal between a first positioning device and a terminal, and a second total phase ψ2 of a second positioning signal between a second positioning device and a terminal;

[0167] Among them, based on the eleventh positioning method, known parameters are obtained based on the signal phase positioning method.

[0168] Step H2: According to the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelength λ of the first positioning signal and the second positioning signal in free space, the radiation angle θ1 of the first leaky cable, the intersection angle θ of the longitudinal extension direction of the first leaky cable and the second leaky cable, the distance b1 from the initial position of the first leaky cable to the intersection, the distance b2 from the initial position of the second leaky cable to the intersection, the radiation angle θ2 of the second leaky cable, the wavelength λ of the first positioning signal in the first leaky cable c1 , the wavelength λ of the second positioning signal in the second leaky cable c2 , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, introducing a third preset equation group to obtain a first radial distance x1 from the terminal to the first leaky cable and a second radial distance x2 from the terminal to the second leaky cable;

[0169] The third preset equation group is the following equation group (3):

[0170]

[0171] Wherein, in equation group (3), the sum of the angles between the plane projection of the terminal on the first leaky cable and the second leaky cable and the first leaky cable and the second leaky cable is θ, and the distance between the terminal and the first leaky cable at the intersection is equal to the distance between the terminal and the second leaky cable at the intersection.

[0172] Wherein, the first leaky cable and the second leaky cable are not arranged in parallel.

[0173] Step H3: According to the first radial distance x1 between the terminal and the first leaky cable and the second radial distance x2 between the terminal and the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelength λ of the first positioning signal and the second positioning signal in free space, the radiation angle θ1 of the first leaky cable, the radiation angle θ2 of the second leaky cable, the wavelength λ of the first positioning signal in the first leaky cablec1 , the wavelength λ of the second positioning signal in the second leaky cable c2 , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, are introduced into the fourth preset equation group to obtain a first longitudinal distance y1 of the terminal from the first leaky cable, a second longitudinal distance y2 of the second leaky cable, and coordinates (x1, y1) of the terminal relative to the first leaky cable and coordinates (x2, y2) of the terminal relative to the second leaky cable.

[0174] The fourth preset equation group is the following equation group (4):

[0175]

[0176] In another possible implementation manner, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal;

[0177] The calculating the position of the terminal according to the interactive positioning signal includes:

[0178] Step I1: Acquire known parameters, including: a first total loss L1 of a first positioning signal transmitted between a first positioning device and a terminal, and a second total loss L2 of a second positioning signal transmitted between a second positioning device and a terminal;

[0179] Among them, based on the twelfth positioning method, known parameters are obtained, and the positioning method is based on signal strength.

[0180] Step I2: According to the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, the radiation angle θ1 of the first leaky cable, and the coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , a transmission loss factor of the second leaky cable α2, a radiation angle of the second leaky cable θ2, an intersection angle of the first leaky cable and the second leaky cable in the longitudinal direction θ, a distance from the initial position of the first leaky cable to the intersection point b1, a distance from the initial position of the second leaky cable to the intersection point b2, importing a fifth preset equation group, obtaining a first radial distance x1 from the terminal to the first leaky cable and a second radial distance x2 from the terminal to the second leaky cable;

[0181] The fifth preset equation group is the following equation group (5):

[0182]

[0183] Wherein, in equation group (5), the sum of the angles between the plane projection of the terminal on the first leaky cable and the second leaky cable and the first leaky cable and the second leaky cable is θ, and the distance between the terminal and the first leaky cable at the intersection is equal to the distance between the terminal and the second leaky cable at the intersection.

[0184] Wherein, the first leaky cable and the second leaky cable are not arranged in parallel.

[0185] Step I3: according to the first radial distance x1 of the terminal from the first leaky cable and the second radial distance x2 of the terminal from the second leaky cable, the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, the radiation angle θ1 of the first leaky cable, and the coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle θ2 of the second leaky cable, and the sixth preset equation group are introduced to obtain the first longitudinal distance y1 of the terminal from the first leaky cable, the second longitudinal distance y2 of the second leaky cable, and the coordinates (x1, y1) of the terminal relative to the first leaky cable and the coordinates (x2, y2) of the terminal relative to the second leaky cable.

[0186] The sixth preset equation group is the following equation group (6):

[0187]

[0188] refer to Figure 4 , Figure 4 A schematic diagram of the principle of the indoor positioning method provided by an embodiment of the present invention. The positioning process of the indoor positioning system is as follows: the first positioning device sends a third positioning signal through the first leaky cable, and the second positioning device receives the third positioning signal through the second leaky cable to form an electromagnetic cover between the first leaky cable and the second leaky cable, and the electromagnetic cover is used to locate the position of the intruder in the electromagnetic cover.

[0189] The process of locating an intruder (e.g., a construction worker or other object) in an electromagnetic cover is as follows:

[0190] The propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the spacing distance d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, and the propagation speed c of the first positioning signal and the second positioning signal in free space are known. When the terminal enters the electromagnetic cover, the electromagnetic field in the electromagnetic cover changes, and the time for the electromagnetic field change induced in the first leaky cable and the second leaky cable is T5. At this time, the time for the first positioning signal of the electromagnetic field change to propagate in the first leaky cable and the second leaky cable are t8 and t9 respectively (where T5=t8+t9+d / c). The calculation process is as follows: Assume that the distance of the terminal relative to the first positioning device or the second positioning device along the extension direction of the leaky cable is y; where,

[0191] v1·t8=v2·t9+b

[0192]

[0193]

[0194] y=v1·t8=v2·t9+b

[0195] Therefore, the distance y of the terminal along the extension direction of the leaky cable is obtained. Then, the radial distance x from the terminal to the first leaky cable is calculated by the ranging method of flight time, arrival time, phase or field strength. Finally, the position coordinates (x, y) of the terminal relative to the first leaky cable are obtained.

[0196] It can be seen from the above description that the indoor positioning system provided in this embodiment further improves the positioning accuracy by using the electromagnetic shield between the leaky cables.

[0197] In the present invention, when the radiation angle of the leaky cable is 90°, sinθ1=1, tends to 0, sinθ2=1, tends to 0. When the radiation angle of the leaky cable is not considered, the default radiation angle of the leaky cable is 90°, at which time sinθ1=1, tends to 0, sinθ2=1, Tends to 0.

[0198] In the present invention, the integrated communication and guidance network includes not only the first leaky cable, the second leaky cable, the first positioning device, and the second positioning device, but also other leaky cables and positioning devices. After being arranged and combined in space, the accuracy can be further improved or more dimensional positioning can be achieved. For example, there are the first leaky cable, the second leaky cable, the third leaky cable, and the first positioning device, the second positioning device, and the third positioning device. The first leaky cable, the second leaky cable, and the third leaky cable are parallel and not in the same plane. By adopting the first positioning method, three-dimensional positioning can be achieved, that is, the coordinate position (x, y, z) of the terminal is determined.

[0199] The above positioning algorithms and calculation steps are only specific embodiments of the present invention, and any simple modification, deformation and step adjustment thereof are included in the protection scope of the present invention. The above positioning principles can be used alone or in combination.

[0200] The present invention also provides a communication and navigation integrated network, including the indoor positioning system provided by the above embodiments.

[0201] When the information source in the present invention is set at the first end of the first leaky cable and the second leaky cable, the first leaky cable and the second leaky cable may include multiple sections of leaky cables, and each section of the leaky cable may be connected by a power divider, a coupler, a positioning device or a jumper. When a positioning device is used to connect multiple sections of leaky cables or antennas and the positioning device includes multiple positioning base stations, the multiple positioning base stations in the positioning device send or receive positioning signals respectively through the connected multiple leaky cables or antennas. The information source in the present invention can also be set at the first end and the second end of the first leaky cable and the second leaky cable at the same time.

[0202] The communication and navigation integrated network provided by the embodiment of the present invention can be applied to indoor places such as tunnels, large commercial buildings, and large hub projects to provide communication services and positioning services at the same time. On the basis of the existing indoor coverage network composed of a source module, a combiner, a first leaky cable, and a second leaky cable, a gateway is set at the source, and a first positioning device and a second positioning device are set between the leaky cable and the feeder, wherein the positioning device is powered by the gateway or the source module, configured by the gateway, and sends or receives positioning signals through the leaky cable, and locates the indoor positioning target through the positioning signal. Since there is no need to set up a new positioning system specifically, it is only necessary to add a positioning device on the basis of the original indoor coverage network to achieve indoor terminal positioning, which greatly reduces the cost of network construction and reduces the requirements for network construction space.

[0203] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An indoor positioning system, characterized in that: include: A signal source module, a gateway, a combiner, a first leaky cable, a second leaky cable, a first positioning device and a second positioning device; The source module and the gateway are connected to the first end of the first leaky cable and the first end of the second leaky cable after being combined by the combiner; The first positioning device is arranged between the first end of the first leaky cable and the feeder; The second positioning device is arranged between the first end of the second leaky cable and the feeder; The first positioning device and the second positioning device are used to receive the configuration signal sent by the gateway or send a positioning signal to the gateway, and respectively send and receive positioning signals through the first leaky cable and the second leaky cable, so that the terminal can be positioned according to the positioning signal; the first positioning device and the second positioning device include at least one positioning base station.

2. The indoor positioning system according to claim 1, characterized in that: The first leaky cable, the second leaky cable, the first positioning device and the second positioning device receive DC power or RF power from the gateway; or the first leaky cable, the second leaky cable, the first positioning device and the second positioning device receive RF power from the information source module.

3. The indoor positioning system according to claim 1, characterized in that: The first positioning device and the second positioning device also include one or more of the following devices: a power divider, a coupler, a filter, a combiner, an antenna, a circulator, an isolator, a load and an attenuator; when the first positioning device and the second positioning device include an antenna or an integrated antenna function, the first positioning device and the second positioning device can send or receive positioning signals through the antenna.

4. The indoor positioning system according to claim 1, characterized in that: The first positioning device and the second positioning device send or receive positioning signals through antennas installed at the leaky cable ends of the first leaky cable and the second leaky cable.

5. An indoor positioning method, characterized in that: Using the indoor positioning system according to any one of claims 1 to 4, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal; The method comprises: Step A1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal; Step A2: According to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the spacing d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, the propagation speed c of the first positioning signal and the second positioning signal in the air, and the radiation angle of the first leaky cable 1. Radiation angle of the second leaky cable 2, as well as the first total transmission time T1 and the second total transmission time T2, importing a first preset formula to obtain a first radial distance x between the terminal and the first leaky cable; Step A3: calculating, according to the first radial distance x, a first spatial transmission time t3 of the first positioning signal when it is spatially transmitted between the terminal and the first leaky cable, and a second spatial transmission time t4 of the second positioning signal when it is spatially transmitted between the terminal and the second leaky cable; Step A4: subtract the first total transmission time T1 from the first spatial transmission time t3 to obtain the first leaky cable transmission time t1 of the first positioning signal in the first leaky cable; subtract the second total transmission time T2 from the second spatial transmission time t4 to calculate the second leaky cable transmission time t2 of the second positioning signal in the second leaky cable; Step A5: According to the propagation speed v1 of the first leaky cable, the transmission time t1 of the first leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the first radial distance x and the radiation angle of the first leaky cable 1. The propagation speed v2 of the second leaky cable, the transmission time t2 of the second leaky cable, the distance d between the first leaky cable and the second leaky cable, and the radiation angle of the second leaky cable 2 and the initial position difference b, introduce the second preset formula to obtain the first longitudinal distance y between the terminal and the first leaky cable, and obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

6. The method according to claim 5, characterized in that Also includes: Step B1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal; determine a total transmission time difference ΔT according to the first total transmission time and the second total transmission time; Step B2: According to the vertical height h of the terminal from the plane where the two leaky cables are located, the propagation speed c of the first positioning signal and the second positioning signal in the air, and the radiation angle of the first leaky cable 1. The distance d between the first leaky cable and the second leaky cable, and the radiation angle of the second leaky cable 2. The propagation velocity v1 of the first leaky cable, the propagation velocity v2 of the second leaky cable, the known time difference Δt caused by the initial position difference, and the total transmission time difference ΔT are introduced into a third preset formula to obtain a first radial distance x between the terminal and the first leaky cable; Step B3: Calculate a first longitudinal distance y between the terminal and the first leaky cable to obtain coordinates (x, y) of the terminal relative to the first leaky cable.

7. The method according to claim 5, characterized in that Also includes: Step C1: Acquire known parameters, including: a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal; Step C2: Based on the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelengths of the first positioning signal and the second positioning signal in free space , the radiation angle of the first leaky cable 1. The distance d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, and the radiation angle of the second leaky cable 2. The wavelength of the first positioning signal in the first leaky cable , the wavelength of the second positioning signal in the second leaky cable , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, introducing a fourth preset formula to obtain a first radial distance x between the terminal and the first leaky cable; Step C3: according to the first radial distance x between the terminal and the first leaky cable, the vertical height h between the terminal and the plane where the two leaky cables are located, the wavelengths of the first positioning signal and the second positioning signal in free space , the radiation angle of the first leaky cable 1. The distance d between the first leaky cable and the second leaky cable, the initial position difference b between the first leaky cable and the second leaky cable, and the radiation angle of the second leaky cable 2. The wavelength of the first positioning signal in the first leaky cable , the wavelength of the second positioning signal in the second leaky cable , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, import the fifth preset formula, obtain the first longitudinal distance y of the terminal from the first leaky cable, and obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

8. The method according to claim 5, characterized in that Also includes: Step D1: Acquire known parameters, including: a first total phase ψ1 of a first positioning signal between a first positioning device and a terminal, and a second total phase ψ2 of a second positioning signal between a second positioning device and a terminal; determine a total phase difference Δψ according to the first total phase and the second total phase; Step D2: Based on the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelengths of the first positioning signal and the second positioning signal in free space , the radiation angle of the first leaky cable 1. The distance d between the first leaky cable and the second leaky cable, and the radiation angle of the second leaky cable 2. The wavelength of the first positioning signal in the first leaky cable , the wavelength of the second positioning signal in the second leaky cable , a known phase difference Δφ caused by the initial position difference and a total phase difference Δψ, and a sixth preset formula is introduced to obtain a first radial distance x between the terminal and the first leaky cable; Step D3: Calculate a first longitudinal distance y between the terminal and the first leaky cable to obtain coordinates (x, y) of the terminal relative to the first leaky cable.

9. The method according to claim 5, characterized in that Also includes: Step E1: Acquire known parameters, including: a first total loss L1 of a first positioning signal transmitted between a first positioning device and a terminal, and a second total loss L2 of a second positioning signal transmitted between a second positioning device and a terminal; Step E2: According to the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, and the radiation angle of the first leaky cable 1. Coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle of the second leaky cable 2. The interval distance d between the first leaky cable and the second leaky cable, and the initial position difference b between the first leaky cable and the second leaky cable are introduced into the seventh preset formula to obtain the first radial distance x between the terminal and the first leaky cable; Step E3: according to the first radial distance x, the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, and the radiation angle of the first leaky cable 1. Coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle of the second leaky cable 2. The interval distance d between the first leaky cable and the second leaky cable, and the initial position difference b between the first leaky cable and the second leaky cable are introduced into the eighth preset formula to obtain the first longitudinal distance y between the terminal and the first leaky cable, and obtain the coordinates (x, y) of the terminal relative to the first leaky cable.

10. The method according to claim 5, characterized in that Also includes: Step F1: Acquire known parameters, including: a first total loss L1 of the first positioning signal transmitted between the first positioning device and the terminal, and a second total loss L2 of the second positioning signal transmitted between the second positioning device and the terminal, wherein the total loss difference ΔL is the difference between the first total loss L1 and the second total loss L2; Step F2: Based on the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, and the radiation angle of the first leaky cable 1. Coupling loss α of the first leaky cable at m meters c1 And the distance value m, the distance d between the first leaky cable and the second leaky cable, the radiation angle of the second leaky cable 2. Coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α1 of the first leaky cable, the transmission loss factor α2 of the second leaky cable, the total loss difference ΔL, the known loss difference caused by the initial position difference b , import the ninth preset formula to obtain a first radial distance x between the terminal and the first leaky cable; Step F3: Calculate a first longitudinal distance y between the terminal and the first leaky cable to obtain coordinates (x, y) of the terminal relative to the first leaky cable.

11. The method according to claim 5, characterized in that Also includes: The first positioning device sends a third positioning signal through the first leaky cable, and the second positioning device receives the third positioning signal through the second leaky cable to form an electromagnetic cover between the first leaky cable and the second leaky cable, and the electromagnetic cover is used to locate the position of the intruder in the electromagnetic cover.

12. An indoor positioning method, characterized in that: Using the indoor positioning system according to any one of claims 1 to 4, the positioning signal exchanged between the first positioning device and the terminal is a first positioning signal, and the positioning signal exchanged between the second positioning device and the terminal is a second positioning signal; The method further comprises: Step G1: Acquire known parameters, including: a first total transmission time T1 of a first positioning signal between a first positioning device and a terminal, and a second total transmission time T2 of a second positioning signal between a second positioning device and a terminal; Step G2: According to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the intersection angle of the longitudinal extension direction of the first leaky cable and the second leaky cable is , the distance between the initial position of the first leaky cable and the intersection is b1, the distance between the initial position of the second leaky cable and the intersection is b2, the propagation speed of the first positioning signal and the second positioning signal in the air is c, the radiation angle of the first leaky cable 1. Radiation angle of the second leaky cable 2, as well as the first total transmission time T1 and the second total transmission time T2, importing the first preset equation group to obtain the first radial distance x1 of the terminal from the first leaky cable and the second radial distance x2 of the terminal from the second leaky cable; Step G3: According to the first radial distance x1 between the terminal and the first leaky cable and the second radial distance x2 between the terminal and the second leaky cable, according to the propagation speed v1 of the first leaky cable, the propagation speed v2 of the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the propagation speed c of the first positioning signal and the second positioning signal in the air, and the radiation angle of the first leaky cable 1. Radiation angle of the second leaky cable 2, as well as the first total transmission time T1 and the second total transmission time T2, import the second preset equation group, obtain the first longitudinal distance y1 of the terminal from the first leaky cable, the second longitudinal distance y2 of the second leaky cable, and obtain the coordinates (x1, y1) of the terminal relative to the first leaky cable and the coordinates (x2, y2) of the terminal relative to the second leaky cable.

13. The method according to claim 12, characterized in that Also includes: Step H1: Acquire known parameters, including: a first total phase ψ1 of a first positioning signal between a first positioning device and a terminal, and a second total phase ψ2 of a second positioning signal between a second positioning device and a terminal; Step H2: Based on the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelengths of the first positioning signal and the second positioning signal in free space , the radiation angle of the first leaky cable 1. The intersection angle between the longitudinal extension direction of the first leaky cable and the second leaky cable is , the distance from the initial position of the first leaky cable to the intersection is b1, the distance from the initial position of the second leaky cable to the intersection is b2, and the radiation angle of the second leaky cable is 2. The wavelength of the first positioning signal in the first leaky cable , the wavelength of the second positioning signal in the second leaky cable , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, introducing a third preset equation group to obtain a first radial distance x1 from the terminal to the first leaky cable and a second radial distance x2 from the terminal to the second leaky cable; Step H3: According to the first radial distance x1 between the terminal and the first leaky cable and the second radial distance x2 between the terminal and the second leaky cable, the vertical height h of the terminal from the plane where the two leaky cables are located, the wavelengths of the first positioning signal and the second positioning signal in free space , the radiation angle of the first leaky cable 1. Radiation angle of the second leaky cable 2. The wavelength of the first positioning signal in the first leaky cable , the wavelength of the second positioning signal in the second leaky cable , a first total phase ψ1 of the first positioning signal between the first positioning device and the terminal, and a second total phase ψ2 of the second positioning signal between the second positioning device and the terminal, are introduced into the fourth preset equation group to obtain a first longitudinal distance y1 of the terminal from the first leaky cable, a second longitudinal distance y2 of the second leaky cable, and coordinates (x1, y1) of the terminal relative to the first leaky cable and coordinates (x2, y2) of the terminal relative to the second leaky cable.

14. The method according to claim 12, characterized in that Also includes: Step I1: Acquire known parameters, including: a first total loss L1 of a first positioning signal transmitted between a first positioning device and a terminal, and a second total loss L2 of a second positioning signal transmitted between a second positioning device and a terminal; Step I2: According to the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, and the radiation angle of the first leaky cable 1. Coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle of the second leaky cable 2. The intersection angle between the longitudinal extension direction of the first leaky cable and the second leaky cable is , the distance from the initial position of the first leaky cable to the intersection is b1, the distance from the initial position of the second leaky cable to the intersection is b2, the fifth preset equation group is introduced to obtain the first radial distance x1 from the terminal to the first leaky cable and the second radial distance x2 from the terminal to the second leaky cable; Step I3: According to the first radial distance x1 between the terminal and the first leaky cable and the second radial distance x2 between the terminal and the second leaky cable, the first total loss L1, the space loss factor α of the first positioning signal and the second positioning signal in free space, the vertical height h of the terminal from the plane where the two leaky cables are located, and the radiation angle of the first leaky cable 1. Coupling loss α of the first leaky cable at m meters c1 And the distance value m, the transmission loss factor α1 of the first leaky cable, the second total loss L2, the coupling loss α of the second leaky cable at m meters c2 , the transmission loss factor α2 of the second leaky cable, the radiation angle of the second leaky cable 2. Import the sixth preset equation group to obtain the first longitudinal distance y1 of the terminal from the first leaky cable, the second longitudinal distance y2 of the second leaky cable, and obtain the coordinates (x1, y1) of the terminal relative to the first leaky cable and the coordinates (x2, y2) of the terminal relative to the second leaky cable.

15. A communication and navigation integrated network, characterized in that: The invention comprises an indoor positioning system as claimed in any one of claims 1 to 5.

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